CN110262560A - Waste system is put in a kind of supervision towards mechanized state farm - Google Patents
Waste system is put in a kind of supervision towards mechanized state farm Download PDFInfo
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- CN110262560A CN110262560A CN201910655069.0A CN201910655069A CN110262560A CN 110262560 A CN110262560 A CN 110262560A CN 201910655069 A CN201910655069 A CN 201910655069A CN 110262560 A CN110262560 A CN 110262560A
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- 239000002699 waste material Substances 0.000 title claims abstract description 30
- 239000002689 soil Substances 0.000 claims abstract description 15
- 230000033001 locomotion Effects 0.000 claims abstract description 9
- 238000012795 verification Methods 0.000 claims abstract description 4
- 238000006243 chemical reaction Methods 0.000 claims description 4
- 238000012790 confirmation Methods 0.000 claims description 4
- 230000009131 signaling function Effects 0.000 claims description 4
- 238000001514 detection method Methods 0.000 description 2
- 238000009313 farming Methods 0.000 description 2
- 238000007726 management method Methods 0.000 description 2
- 238000000034 method Methods 0.000 description 2
- 238000003860 storage Methods 0.000 description 2
- FFRBMBIXVSCUFS-UHFFFAOYSA-N 2,4-dinitro-1-naphthol Chemical compound C1=CC=C2C(O)=C([N+]([O-])=O)C=C([N+]([O-])=O)C2=C1 FFRBMBIXVSCUFS-UHFFFAOYSA-N 0.000 description 1
- 208000012260 Accidental injury Diseases 0.000 description 1
- 241000196324 Embryophyta Species 0.000 description 1
- 235000010627 Phaseolus vulgaris Nutrition 0.000 description 1
- 244000046052 Phaseolus vulgaris Species 0.000 description 1
- 238000007792 addition Methods 0.000 description 1
- 230000009286 beneficial effect Effects 0.000 description 1
- 230000005540 biological transmission Effects 0.000 description 1
- 238000004364 calculation method Methods 0.000 description 1
- 239000003086 colorant Substances 0.000 description 1
- 238000010586 diagram Methods 0.000 description 1
- 230000000694 effects Effects 0.000 description 1
- 230000002708 enhancing effect Effects 0.000 description 1
- 208000014674 injury Diseases 0.000 description 1
- 230000014759 maintenance of location Effects 0.000 description 1
- 239000000463 material Substances 0.000 description 1
- 238000012986 modification Methods 0.000 description 1
- 230000004048 modification Effects 0.000 description 1
- 238000012545 processing Methods 0.000 description 1
- 230000008054 signal transmission Effects 0.000 description 1
- 238000006467 substitution reaction Methods 0.000 description 1
- 230000009466 transformation Effects 0.000 description 1
Classifications
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- G—PHYSICS
- G05—CONTROLLING; REGULATING
- G05D—SYSTEMS FOR CONTROLLING OR REGULATING NON-ELECTRIC VARIABLES
- G05D1/00—Control of position, course, altitude or attitude of land, water, air or space vehicles, e.g. using automatic pilots
- G05D1/10—Simultaneous control of position or course in three dimensions
- G05D1/101—Simultaneous control of position or course in three dimensions specially adapted for aircraft
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- Engineering & Computer Science (AREA)
- Aviation & Aerospace Engineering (AREA)
- Radar, Positioning & Navigation (AREA)
- Remote Sensing (AREA)
- Physics & Mathematics (AREA)
- General Physics & Mathematics (AREA)
- Automation & Control Theory (AREA)
- Image Processing (AREA)
Abstract
The present invention relates to observation systems, it in particular is that waste system is put in a kind of supervision towards mechanized state farm, HSN software is converted including quadrotor drone and RGB, the positioning system of quadrotor drone will set up coordinate system in the point, and quadrotor drone access network determines unmanned plane position by digital map navigation, quadrotor drone can set up a dynamic motion model therewith and determine the location of its, the soil that the selection as needed of correspondence needs to detect, quadrotor drone carries out image taking to cultivated farm area, it is HSN model that RGB, which converts HSN software for image taking RGB model conversation, recognition and verification yellow color lump simultaneously carries out shape recognition, data will be uploaded to host computer after calculating out position；The image of acquisition of taking photo by plane will will do it image procossing and judge that ploughing farm puts waste and plantation situation, and judge which specific a piece of land puts waste and plantation situation.
Description
Technical field
The present invention relates to observation systems, are in particular that waste system is put in a kind of supervision towards mechanized state farm.
Background technique
It is less that large-scale SOEs' manager uses the cropping pattern of high mechanization to use relatively for manpower, most of heavy
Manual labor is completed to save a large amount of manpowers by agricultural machinery；By taking the farm of Xunke as an example, only 3,450 people are managed on Xunke farm
The soil more than 3,100,000 mu is managed, manages nearly thousand mu of soil, 100,000 tons of grain beans yield per capita；Mechanical cultivation has been saved greatly
The manpower and material resources of amount, improve labor productivity；But mechanical cultivation needs use on a large scale, uses on lesser soil
Tractor-ploughing does not simply fail to promotion labor productivity can also be to accidental injury crops；A large amount of manpower consumption is in the farming to farm simultaneously
The correspondence growth cycle observation of object judges in next stage work；It would therefore be desirable to have the crops targetedly to farm to generally investigate
Management, judges its growth cycle, and corresponding agricultural machinery is selected to carry out mechanical cultivation, improves labor productivity；After and
Large-scale home farm will largely occur；The following relatively large land area in domestic households farm will be ploughed using mechanical
Make, then a large amount of manpower will consume in the supervision and management to crops.
Summary of the invention
The object of the present invention is to provide a kind of supervision towards mechanized state farm to put waste system, can rely on quadrotor drone
It takes photo by plane to farm, the image for acquisition of taking photo by plane will will do it image procossing and judge that ploughing farm puts waste and plantation situation, and sentence
Put waste and plantation situation in disconnected specific any a piece of land.
The purpose of the present invention is achieved through the following technical solutions:
Waste system is put in a kind of supervision towards mechanized state farm, including quadrotor drone and RGB convert HSN software, described
Quadrotor drone is discharged at cultivated farm any point, the positioning system of quadrotor drone will set up coordinate in the point
System, and quadrotor drone access network determines unmanned plane position by digital map navigation, and establishes one on coordinate system and move
The motion model of state, confirmation operating area all within the scope of signal function with itinerary of voyage planning it is interior its, quadrotor
Unmanned plane can set up a dynamic motion model therewith and determine the location of its, and the selection as needed of correspondence needs
The soil of detection, quadrotor drone carry out image taking to cultivated farm area, and RGB converts HSN software for image taking RGB mould
Type is converted into HSN model, and recognition and verification yellow color lump simultaneously carries out shape recognition, will upload data after calculating out position
To host computer.
As advanced optimizing for the technical program, waste system is put in a kind of supervision towards mechanized state farm of the present invention, described
The formula of RGB conversion HSN software are as follows:
As advanced optimizing for the technical program, waste system is put in a kind of supervision towards mechanized state farm of the present invention, described
Pass through wireless connection between host computer and RGB conversion HSN software.
As advanced optimizing for the technical program, waste system is put in a kind of supervision towards mechanized state farm of the present invention, described
It is provided with control program in quadrotor drone, is provided with full-view camera in the quadrotor drone, control program can be with
Control quadrotor drone is oriented flight, fixed point shooting and image recognition.
As advanced optimizing for the technical program, waste system is put in a kind of supervision towards mechanized state farm of the present invention, described
The flight path of quadrotor drone can calibrate a piece of land at square four angle repeatedly.
Having the beneficial effect that for waste system is put in a kind of supervision towards mechanized state farm of the present invention
Waste system is put in a kind of supervision towards mechanized state farm of the present invention, can be navigated by quadrotor drone to farm
It claps, the image for acquisition of taking photo by plane will will do it image procossing and judge that ploughing farm puts waste and plantation situation, and judge which specific block
Put waste and plantation situation in soil.
Detailed description of the invention
The present invention will be further described in detail with specific implementation method with reference to the accompanying drawing.
Fig. 1 is judgement System Working Principle structural block diagram of the invention.
Specific embodiment
The present invention is described in further detail below in conjunction with the accompanying drawings.
Specific embodiment 1:
Illustrate present embodiment below with reference to Fig. 1, waste system is put in a kind of supervision towards mechanized state farm, including quadrotor without
Man-machine and RGB converts HSN software, described to discharge quadrotor drone, the positioning of quadrotor drone at cultivated farm any point
System will set up coordinate system in the point, and quadrotor drone access network determines unmanned seat in the plane by digital map navigation
It sets, and establishes a dynamic motion model on coordinate system, confirmation operating area is all within the scope of signal function and voyage
In route planning in the case of it, quadrotor drone can set up a dynamic motion model therewith and determine position locating for it
It sets, the soil that the selection as needed of correspondence needs to detect, quadrotor drone carries out image taking to cultivated farm area,
It is HSN model that RGB, which converts HSN software for image taking RGB model conversation, and recognition and verification yellow color lump simultaneously carries out shape knowledge
Not, data will be uploaded to host computer after calculating out position；It can take photo by plane, navigate to farm by quadrotor drone
The image for clapping acquisition will will do it image procossing and judge that ploughing farm puts waste and plant situation, and judge which specific a piece of land is put
Waste and plantation situation；It can take photo by plane by quadrotor drone to farm, the image for acquisition of taking photo by plane will will do it at image
Reason judges growth cycle, and judges to particularly belong to which a piece of land targetedly carries out farming；Big boundary unmanned plane can be used
Big boundary drives Air unmanned plane, this unmanned plane voyage 30min, the speed of service is about 30km/h, and highest running speed is up to 60km/
h；Taking photo by plane, it is high to stablize, and pixel is up to 32,000,000, and wide-angle of taking pictures is that 180 degree facilitates acquisition information；Unmanned plane maximum effect
Distance is 4 kilometers, i.e., Maximum Endurance path is 25 kilometers, and possesses the real-time figure biography ability that 720p is transmitted in 4 kilometers, reason
On not to farm environment do significantly transformation in the case where only rely on 2.4/5.8GHZ signal transmission can with regard to maximum radius
Up to 4 kilometers, image taking of the area up to 50 square kilometres of region；And big boundary is driven Air and can be transmitted by WiFi signal
Control and therefore increases its working range in centre increase relaying enhancing signal.
Specific embodiment 2:
Illustrate that present embodiment, present embodiment are described further embodiment one below with reference to Fig. 1, the RGB
Convert the formula of HSN software are as follows:
RGB is transformed into the algorithm of HSV:
Max=max (R, G, B)；
Min=min (R, G, B)；
V=max (R, G, B)；
S=(max-min)/max；
If (R=max) H=(G-B)/(max-min) * 60；
If (G=max) H=120+ (B-R)/(max-min) * 60；
If (B=max) H=240+ (R-G)/(max-min) * 60；
If (H < 0) H=H+360.
Specific embodiment 3:
Illustrate that present embodiment, present embodiment are described further embodiment one below with reference to Fig. 1, it is described upper
Pass through wireless connection between machine and RGB conversion HSN software；The photo directly taken pictures is the pixel based on RGB model
Figure, for every bit all by tri- numerical value storages of RGB, information storage is big, relatively slow in three-dimensional array operation in processing；And
RGB color is non-uniform color space, the Euclidean distance of point-to-point transmission in the perceptual differential and space between two colors
Non-linear ratio, and the correlation between rgb value is very high, and to same color attribute, rgb value divides very much at different conditions
It dissipates, for identifying certain special color, is difficult to determine its threshold value and its color similarity calculation method space traditional in color
In distribution, be unfavorable for the identification of target object, therefore be translated into relatively simple HSV model.
Specific embodiment 4:
Illustrate that present embodiment, present embodiment are described further embodiment one below with reference to Fig. 1, four rotation
It is provided with control program on wing unmanned plane, full-view camera is provided in the quadrotor drone, control program can control
Quadrotor drone is oriented flight, fixed point shooting and image recognition.
Specific embodiment 5:
Illustrate that present embodiment, present embodiment make furtherly any one of embodiment one to four below with reference to Fig. 1
Bright, the flight path of the quadrotor drone can calibrate a piece of land at square four angle repeatedly；
The brown soil on ground may be caused to show the color state similar with golden yellow due to light in actual use, because
This can choose whether to adjust the block soil repeatedly according to the actual conditions in the section soil for operator in host computer
It looks into.
Waste system is put in a kind of supervision towards mechanized state farm of the invention, its working principle is that:
It is calculated based on the farm of a 300hm2 now, unmanned plane 15 kilometers of cruising radiuses 4 of every sortie cruise
Kilometer.Large-scale farm soil is comparatively smooth, and soil is comparatively complete.Assuming that it is one long 2 kilometers wide 1.5 kilometers
Soil, operator can discharge unmanned plane in any point, and the positioning system of unmanned plane will set up coordinate system in the point, and
And unmanned plane access network determines unmanned plane position by digital map navigation, and a dynamic movement mould is established on coordinate system
Type；In the case that manual confirmation operating area all within the scope of signal function with itinerary of voyage planning in its, unmanned plane can be with
Dynamic motion model of setting up determine the location of its, the soil that the selection as needed of correspondence needs to detect
Ground；Worker has planned that the region of corresponding detection will be showed user by corresponding stroke, host computer in host computer, and
User, which needs to confirm, to let a piece of farmland go to waste on stroke without acreage property；If there is leaving the land uncultivated, user will need when planning stroke
The region that will let a piece of farmland go to waste is indicated.Image acquisition is constantly carried out during unmanned plane during flying, image processing software turns according to corresponding RGB
Whether HSV algorithm determines yellow color lump ratio and lets a piece of farmland go to waste.
Certainly, above description is not limitation of the present invention, and the present invention is also not limited to the example above, the art
The variations, modifications, additions or substitutions that those of ordinary skill is made within the essential scope of the present invention also belong to guarantor of the invention
Protect range.
Claims (5)
1. waste system is put in a kind of supervision towards mechanized state farm, including quadrotor drone and RGB convert HSN software, feature
Be: described to discharge quadrotor drone at cultivated farm any point, the positioning system of quadrotor drone will be built in the point
Coordinate system is erected, and quadrotor drone access network determines unmanned plane position by digital map navigation, and builds on coordinate system
A dynamic motion model is found, its interior situation is all planned in confirmation operating area within the scope of signal function with itinerary of voyage
Under, quadrotor drone can set up therewith a dynamic motion model determine its location of, correspondence according to need
The soil for needing to detect is selected, quadrotor drone carries out image taking to cultivated farm area, and RGB, which will convert HSN software, to scheme
As shooting RGB model conversation is HSN model, recognition and verification yellow color lump simultaneously carries out shape recognition, the general after calculates out position
Data can be uploaded to host computer.
2. waste system is put in a kind of supervision towards mechanized state farm according to claim 1, it is characterised in that: the RGB turns
Change the formula of HSN software are as follows:
3. waste system is put in a kind of supervision towards mechanized state farm according to claim 1, it is characterised in that: the host computer
Pass through wireless connection between RGB conversion HSN software.
4. waste system is put in a kind of supervision towards mechanized state farm according to claim 1, it is characterised in that: the quadrotor
It is provided with control program on unmanned plane, full-view camera is provided in the quadrotor drone, control program can control four
Rotor wing unmanned aerial vehicle is oriented flight, fixed point shooting and image recognition.
5. putting waste system to a kind of supervision towards mechanized state farm described in 4 according to claim 1, it is characterised in that: described four
The flight path of rotor wing unmanned aerial vehicle can calibrate a piece of land at square four angle repeatedly.
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| CN201910655069.0A CN110262560A (en) | 2019-07-19 | 2019-07-19 | Waste system is put in a kind of supervision towards mechanized state farm |
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| CN201910655069.0A CN110262560A (en) | 2019-07-19 | 2019-07-19 | Waste system is put in a kind of supervision towards mechanized state farm |
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Application publication date: 20190920 |